This article was motivated by the urban mobility changes observed at the onset of the COVID-19 pandemic in Brazil. We aim to analyze travel behavior before and during the COVID-19 pandemic in Brazil considering two samples of revealed preference online data, independent samples tests, multinomial logit models (MNL), and mixed logit models (ML). The analysis shows a decrease in Urban Public Transport (UPT) use. Comfort and frequency of the UPT service were important factors to attract users during the pandemic period. Ridesourcing services were used for leisure purposes before the pandemic. During the pandemic, they were used for health purposes. Active modes were used more for shopping and leisure purposes during the pandemic. Regarding car users, such as drivers, it was found that they used ridesourcing less often during the pandemic than before. The main contribution of this research concerns the changes in travel behavior that might remain and how these analyses can shape sustainable transportation public policies in the future. Therefore, for a Brazilian study case, this article suggests an increase in the quality of UPT services, a reform on pricing regulations for UPT, an increase in the infrastructure for active modes, an implementation of car demand management strategies, and more strategies to support teleworking as a form of traffic demand management.